THE INFLUENCE OF THE LENGTH OF TRAJECTORY OF SCARA MANIPULATOR DUTY CYCLE ON ELECTRICITY CONSUMPTION
Abstract eng: The paper presents the using of Particle Swarm Optimization (PSO) method to determine the shortest trajectory of the end-effector of SCARA manipulator. It has been assumed that the obstacles occur in the workspace, but the transfer above them is impossible, therefore the problem is considered in twodimensional space. In the PSO algorithm the impact of the inertia weight of the length of the searched minimal trajectory has been shown. For found out trajectory the electricity consumption required to execute a duty cycle of SCARA manipulator has been determined. Only theoretical considerations were conducted.
Contributors:
Publisher:
Brno University of Technology, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno
Conference Title:
Conference Title:
Engineering Mechanics 2017
Conference Venue:
Svratka, CZ
Conference Dates:
2017-05-15 / 2017-05-18
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2017-05-22, last modified 2017-05-22
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